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This commit is contained in:
zyx 2024-05-16 01:44:08 +08:00
parent 00232e4251
commit d6cc3baae6
10 changed files with 6762 additions and 6808 deletions
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2
application/cmd/robot_cmd.c
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@ -67,7 +67,7 @@ static uint8_t loader_flag = 0; //拨弹模式选择标志位
void RobotCMDInit() {
rc_data = RemoteControlInit(&huart3); // 修改为对应串口,注意如果是自研板dbus协议串口需选用添加了反相器的那个
vision_recv_data = VisionInit(); // 视觉通信串口
vt_data = VTRefereeInit(&huart1); // 图传通信串口
// vt_data = VTRefereeInit(&huart1); // 图传通信串口
referee_data = UITaskInit(&huart6, &ui_data); // 裁判系统初始化,会同时初始化UI
gimbal_cmd_pub = PubRegister("gimbal_cmd", sizeof(Gimbal_Ctrl_Cmd_s));

2
application/gimbal/gimbal.c
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@ -88,7 +88,7 @@ void GimbalInit() {
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 1.0f,
.Kp = 1.2f,
.Ki = 0.0f,
.Kd = 0.02f,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,

6
application/robot_def.h
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@ -26,11 +26,11 @@
/* 机器人重要参数定义,注意根据不同机器人进行修改,浮点数需要以.0或f结尾,无符号以u结尾 */
// 云台参数
#define YAW_CHASSIS_ALIGN_ECD 1443 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_CHASSIS_ALIGN_ECD 6217 // 云台和底盘对齐指向相同方向时的电机编码器值,若对云台有机械改动需要修改
#define YAW_ECD_GREATER_THAN_4096 0 // ALIGN_ECD值是否大于4096,是为1,否为0;用于计算云台偏转角度
#define PITCH_HORIZON_ECD 4422 // 云台处于水平位置时编码器值,若对云台有机械改动需要修改
#define PITCH_MAX_ANGLE 25 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MIN_ANGLE -24 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MAX_ANGLE 44 // 云台竖直方向最大角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MIN_ANGLE -18 // 云台竖直方向最小角度 (注意反馈如果是陀螺仪，则填写陀螺仪的角度)
#define PITCH_MAX_RELATIVE_ANGLE 123 // 云台相对底盘最大角度
#define PITCH_MIN_RELATIVE_ANGLE 80 // 云台相对底盘最小角度

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cmake-build-debug/basic_framework.hex
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cmake-build-debug/basic_framework.map
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xs.jdebug.user
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@ -1,27 +1,28 @@
OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.c", Line=0
OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=51
OpenDocument="main.c", FilePath="D:/zhandui/cqdm/bubing_9/Src/main.c", Line=58
OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=120
OpenDocument="referee_task.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/referee/referee_task.c", Line=251
OpenDocument="tasks.c", FilePath="D:/zhandui/cqdm/bubing_9/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=3418
OpenDocument="robot_cmd.c", FilePath="D:/zhandui/cqdm/bubing_9/application/cmd/robot_cmd.c", Line=387
OpenDocument="gimbal.c", FilePath="D:/zhandui/cqdm/bubing_9/application/gimbal/gimbal.c", Line=0
OpenDocument="chassis.c", FilePath="D:/zhandui/cqdm/bubing_9/application/chassis/chassis.c", Line=87
OpenDocument="shoot.c", FilePath="D:/zhandui/cqdm/bubing_9/application/shoot/shoot.c", Line=191
OpenDocument="super_cap.c", FilePath="D:/zhandui/cqdm/bubing_9/modules/super_cap/super_cap.c", Line=0
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OpenWindow="Terminal", DockArea=BOTTOM, x=0, y=0, w=909, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
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OpenWindow="Console", DockArea=BOTTOM, x=1, y=0, w=190, h=384, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[263;100;100;100;950]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time"], ColWidths=[100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;282]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[438;100;100;100;100;100;110;126;126]
TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
TableHeader="Task List", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;149;104;218]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[238;149;104;100]
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;26]
WatchedExpression="yaw_motor", RefreshRate=2, Window=Watched Data 1
@ -39,4 +40,6 @@ WatchedExpression="loader", RefreshRate=2, Window=Watched Data 1
WatchedExpression="cap", RefreshRate=2, Window=Watched Data 1
WatchedExpression="shoot_cmd_recv", RefreshRate=5, Window=Watched Data 1
WatchedExpression="gimba_IMU_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="vt_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="ui_data", RefreshRate=2, Window=Watched Data 1
WatchedExpression="Interactive_data", RefreshRate=2, Window=Watched Data 1